main.i

小车源程序工程,由pcf8565单片机控制

/*****************************************************
This program was produced by the
CodeWizardAVR V1.25.6c Professional
Automatic Program Generator
?Copyright 1998-2006 Pavel Haiduc, HP  vula_adcfoTech s.r.l.
http://www.hp vula_adcfotech.com

Project : 小车
Version :  0.00
Date    : 2007-8-30
Author  : momo                          
Company : zhong bei da xue                       
Comments: 


Chip type           : ATmega16L
Program type        : Application
Clock frequency     : 1.000000 MHz
Memory model        : Small
External SRAM size  : 0
Data Stack size     : 256
*****************************************************/
//未使用的函数建议注释掉,同时把头文件里的函数定义注释掉






 
 




/* ADC */


/* Analog Comparator */


/* USART */


/* SPI */



/* EEPROM */


/* Watchdog Timer Control Register */

/* Timer/Counter 2 */

/* Timer/Counter 1 */


/* Special Function I/O register */



/* Timer/Counter 0 */

/* MCU general */

/* SPM Conrol Register */

/* Timer/Counter Interrupts */

/* General Interrupts */





/* Port A bits */



/* Port B bits */



/* Port C bits */



/* Port D bits */




/* Lock and Fuse Bits with LPM/SPM instructions */

/* lock bits */

/* fuses low bits */

/* fuses high bits */

 
 
 

typedef unsigned char  uchar;			/* 定义可移植的无符号8位整数关键字    */
typedef signed   char  schar;			/* 定义可移植的有符号8位整数关键字    */
typedef unsigned int   uint;			/* 定义可移植的无符号16位整数关键字   */
typedef signed   int   sint;			/* 定义可移植的有符号16位整数关键字   */
typedef unsigned long  ulong;			/* 定义可移植的无符号32位整数关键字   */
typedef signed   long  slong;			/* 定义可移植的有符号32位整数关键字   */

// CodeVisionAVR C Compiler
// (C) 1998-2001 Pavel Haiduc, HP InfoTech S.R.L.

// I/O registers definitions for the ATmega16


#pragma used+
sfrb TWBR=0;
sfrb TWSR=1;
sfrb TWAR=2;
sfrb TWDR=3;
sfrb ADCL=4;
sfrb ADCH=5;
sfrw ADCW=4;      // 16 bit access
sfrb ADCSRA=6;
sfrb ADMUX=7;
sfrb ACSR=8;
sfrb UBRRL=9;
sfrb UCSRB=0xa;
sfrb UCSRA=0xb;
sfrb UDR=0xc;
sfrb SPCR=0xd;
sfrb SPSR=0xe;
sfrb SPDR=0xf;
sfrb PIND=0x10;
sfrb DDRD=0x11;
sfrb PORTD=0x12;
sfrb PINC=0x13;
sfrb DDRC=0x14;
sfrb PORTC=0x15;
sfrb PINB=0x16;
sfrb DDRB=0x17;
sfrb PORTB=0x18;
sfrb PINA=0x19;
sfrb DDRA=0x1a;
sfrb PORTA=0x1b;
sfrb EECR=0x1c;
sfrb EEDR=0x1d;
sfrb EEARL=0x1e;
sfrb EEARH=0x1f;
sfrw EEAR=0x1e;   // 16 bit access
sfrb UBRRH=0x20;
sfrb UCSRC=0X20;
sfrb WDTCR=0x21;
sfrb ASSR=0x22;
sfrb OCR2=0x23;
sfrb TCNT2=0x24;
sfrb TCCR2=0x25;
sfrb ICR1L=0x26;
sfrb ICR1H=0x27;
sfrb OCR1BL=0x28;
sfrb OCR1BH=0x29;
sfrw OCR1B=0x28;  // 16 bit access
sfrb OCR1AL=0x2a;
sfrb OCR1AH=0x2b;
sfrw OCR1A=0x2a;  // 16 bit access
sfrb TCNT1L=0x2c;
sfrb TCNT1H=0x2d;
sfrw TCNT1=0x2c;  // 16 bit access
sfrb TCCR1B=0x2e;
sfrb TCCR1A=0x2f;
sfrb SFIOR=0x30;
sfrb OSCCAL=0x31;
sfrb OCDR=0x31;
sfrb TCNT0=0x32;
sfrb TCCR0=0x33;
sfrb MCUCSR=0x34;
sfrb MCUCR=0x35;
sfrb TWCR=0x36;
sfrb SPMCR=0x37;
sfrb TIFR=0x38;
sfrb TIMSK=0x39;
sfrb GIFR=0x3a;
sfrb GICR=0x3b;
sfrb OCR0=0X3c;
sfrb SPL=0x3d;
sfrb SPH=0x3e;
sfrb SREG=0x3f;
#pragma used-

// Interrupt vectors definitions


// Needed by the power management functions (sleep.h)
#asm
	#ifndef __SLEEP_DEFINED__
	#define __SLEEP_DEFINED__
	.EQU __se_bit=0x40
	.EQU __sm_mask=0xB0
	.EQU __sm_powerdown=0x20
	.EQU __sm_powersave=0x30
	.EQU __sm_standby=0xA0
	.EQU __sm_ext_standby=0xB0
	.EQU __sm_adc_noise_red=0x10
	.SET power_ctrl_reg=mcucr
	#endif
#endasm



extern unsigned char TWI_Send(uchar Slave,uchar Address,uchar Data);
//extern unsigned char TWI_SendStr(unsigned char Slave,unsigned char Address,unsigned char *Array,unsigned char CNT);
extern unsigned char TWI_Receive(unsigned char Slave,unsigned char Address);
// CodeVisionAVR C Compiler
// (C) 1998-2000 Pavel Haiduc, HP InfoTech S.R.L.


#pragma used+

void delay_us(unsigned int n);
void delay_ms(unsigned int n);

#pragma used-


extern  void Init_IO ( void );
extern  void  Init_T1(  void );
extern  void Init_T0( void );
extern  void Init_T2( void );
extern  void Init_device( void ) ;
extern  void Init_TWI(void); 

//extern    unsigned char Read_PCF8563T(unsigned char Address);
extern    void Write_PCF8563T(unsigned char Address , char date);
extern   void start_PCF( void );
extern    char Read_sec( void);
extern   char Read_miu( void );


void LCD_init(void);
void LCD_clear(void);
void LCD_write_str(unsigned char X,unsigned char Y,unsigned char flash *s);
void LCD_write_char(unsigned char X,unsigned char Y,unsigned char data);
void LCD_write_com(unsigned char com);
//void CursorScroll(void);  
//void ScreenScroll(void);








/**************************************************** 
全局变量声明
*****************************************************/
volatile unsigned char  flage=0X00;
volatile unsigned char Timer[3]={0,0,0};
volatile unsigned char  write;
volatile unsigned char BalanceTime=0;     
unsigned char  vula_adc;   
 flash char *step[5]={ "stepA","stepB","stepC","back ","over "} ;
 flash char *mode[3]={"normal","advanc","demo  "};
 flash char *display[5]={"frist","sec   ","tree  ","four  ","five  "};
/****************************************************** 
系统中断    （显示，蜂鸣）
*******************************************************/
 interrupt [20 ] void tim0_comp_isr(void)  
 {
    static unsigned char buzz;
    switch ( flage )
     {
    case 0X04:
                    Timer[0]=Read_sec( ); 
                   if( Timer[0]==Timer[2] ) 
                   ;
                   else  
                   {
                       BalanceTime++;
                       LCD_write_char( 13 , 1 ,  ( BalanceTime%10)+'0' ); 
                       LCD_write_char( 12 , 1 ,  ( BalanceTime/10)+'0' );  
                       Timer[2]=Timer[0]   ;
                    }
                    goto j1;  
                    break;
    case 0X84: 
                   Timer[0]=Read_sec( ); 
                   if( Timer[0]==Timer[2] ) 
                   ;
                   else  
                   {
                       BalanceTime++;
                       LCD_write_char( 13 , 1 ,  ( BalanceTime%10)+'0' ); 
                       LCD_write_char( 12 , 1 ,  ( BalanceTime/10)+'0' );  
                       Timer[2]=Timer[0]   ;
                    }
   case 0X80:
                    if( (++buzz) == 10 )
                      {
                            buzz=0; 
                             PORTC.2=1;
                             flage -=0x80;   
                            }                       
     j1:
    case 0X00:  
                   Timer[0]=Read_sec( ); 
                   write=Timer[0];	 
                   LCD_write_char( 11 , 0 ,   (write& 0x0f)+ '0' );    
                   LCD_write_char( 10 , 0 ,   ( (write>>4)&0x07) + '0' );    
                   
                   Timer[1]=Read_miu( ); 	
                   write=Timer[1];
                   LCD_write_char(  4 , 0  ,  (write& 0x0f)+'0');      
                   break;
                   
    default:   break;
    }  
  }
 /*****************************************************************************
 系统中断T2     (寻线校正)
 *****************************************************************************/
  interrupt [4 ] void tim2_comp_isr(void)  
 { 
     if(PORTD.1==1) 
       { 
         
          if(PIND.6==1) 
           
              TCCR1A|=0X40;  
                
               else 
                 
                     TCCR1A&=0XBF;
                       
            
          if(PIND.7==1)
               
              TCCR1A|=0X10;
                
                else        
               
                     TCCR1A&=0XEF;     
                       
       }   
      else
        {
           if(PIND.2==1) 
           
              TCCR1A|=0X40;  
                    
                else 
                  
                      TCCR1A&=0XBF;
                        
            
          if(PIND.3==1)
            
              TCCR1A|=0X10;
             
                else        
                
                      TCCR1A&=0XEF;     
         }      
 }  
 /**********************************************************  
 读取ad值
 ***********************************************************/
 unsigned char get_ad(void) {

	unsigned char i;
	 ADMUX = 0x60;			              /*基准AVCC、左对齐、通道0*/
                  ADCSRA = 0xC2; 
                  			                               /*使能、开启、4分频*/
	while(!(ADCSRA & (1 << 4)));	                     /*等待*/
	i = ADCH;
	ADCSRA &= ~(1 << 4);		              /*清标志*/
	ADCSRA &= ~(1 << 7);		              /*关闭转换*/

	return i;
}   
/*********************************************************************
蜂鸣器函数
*********************************************************************/
void beep( void )
{
   PORTC.2=0;
   delay_ms(500);
   PORTC.2=1;   
}
 /**********************************************************************
 根据ad值选择平衡调整模式
 **********************************************************************/
unsigned char  output( void )
{
  if( vula_adc>=0X7D &&  vula_adc<=0X80 )
                return 0;
   if(  vula_adc>=0X7C && vula_adc<=0X81 )
                  return 1 ;
    if(  vula_adc>=0X7B &&  vula_adc<=0X82 )
                   return  2 ;
      if(  vula_adc>=0X7A &&  vula_adc<=0X83)
                    return 3 ;   
       if(  vula_adc>=0X79 &&  vula_adc<=0X84)
                     return  4 ;   
          if(  vula_adc>=0X78 &&  vula_adc<=0X85)
                      return  5 ;   
            if(  vula_adc>=0X77 &&  vula_adc<=0X86)
                        return  6 ;     
          if(  vula_adc>=0X76 &&  vula_adc<=0X87)
                          return  7  ;  
       if(  vula_adc>=0X75 && vula_adc<=0X88)
                            return  8 ;  
      if(vula_adc >=0X74 && vula_adc<= 0X89)                      
                           return 9;  
                                                                                                 
}   

/**************************************************************************************************
平衡驱动控制函数
**************************************************************************************************/
void  mortorgo( unsigned char high , unsigned char low, unsigned int  go_time, unsigned int  back_time )
 {
      OCR1AH=high; 
      OCR1AL = low;                                                      //new
      OCR1BH=high; 
      OCR1BL= low;   
       
       if( vula_adc<0x7F)
      {
        PORTD.1=0;
        PORTD.0=0;
      }
      else
      {
       PORTD.1=1;
       PORTD.0=1;
      }
     
      TCCR1A|=0X40 ;
      TCCR1A|=0X10 ; 
      
      delay_ms( go_time ) ;
     
      TCCR1A&=0XBF ;
      TCCR1A&=0XEF;
       
       if( vula_adc<0x7F)
      {
       PORTD.1=1;
       PORTD.0=1;
      }
      else
      {
        PORTD.1=0;
        PORTD.0=0;
      }
      
      TCCR1A|=0X40 ;
      TCCR1A|=0X10 ;
      
      delay_ms( back_time ) ;   
       
      TCCR1A&=0XBF ;
      TCCR1A&=0XEF;
 }
void Findbenlen( void )
{
       unsigned char Flage_balan=1; 
       unsigned char Flage_select;
       unsigned char count=0;
   do{
       
       vula_adc = get_ad ( );
       
       Flage_select = output(  ) ;
         
      switch ( output(  ) ) {
                      case 0 : 
                                    
                                  TCCR1A&=0XBF ;
                                  TCCR1A&=0XEF;
                                  if(count<=9)
                                       count++;
                                     else 
                                       Flage_balan=0;
                                 break;
                      case 1 :  
                                  count=0;
                                  mortorgo( 0x03,0xFF , 400, 350 ) ;
                                 break; 
                      case 2 :   
                                  count=0;
                                  mortorgo( 0x02,0xFF , 800, 700 ) ;
                                 break;
                      case 3 : 
                                 count=0;
                                 mortorgo( 0x02,0xFF , 900, 800 ) ;
                                 break;
                      case 4 :   
                                 count=0;
                                 mortorgo( 0x02,0xFF , 900, 700 ) ;
                                 break; 
                      case 5 :
                                  count=0;
                                mortorgo( 0x02,0xFF , 900, 650 ) ;
                                 break; 
                      case 6 :  
                                  count=0;
                                 mortorgo( 0x02,0xFF , 900,600 ) ;
                                 break;  
                       case 7 :
                                  count=0;
                                  mortorgo( 0x02,0xFF , 1000, 700 ) ;
                                 break;   
                       case 8 :
                                 count=0;
                                 mortorgo( 0x02,0xFF , 1000,600 ) ; 
                                break;   
                       case 9 :  
                                  count=0;
                                  mortorgo( 0x02,0xFF , 1000,500) ; 
                                  break;  
                                                                 
                    default:  
                                  count=0;
                                  mortorgo( 0x02,0xFF , 1000,500) ; 
                                 break;
    };
       delay_ms(200);
  }
 
 while( Flage_balan );    
}

unsigned char SelectMode ( void )
{
  unsigned char temp=0;
  LCD_write_str( 0 , 0 ,"press START key");  
  LCD_write_str( 0 , 1 ,"zhong bei da xue "); 
 
  while( PINC.6 ==1 );    
  while(PINC.6 ==0);
  
  LCD_clear( );
  LCD_write_str( 0 , 0 ,"mode:");